Police suspect that the retaliatory attack launched by them, left some naxals either dead of injured.
The village where the incident took place is located near Telangana border.
A composite squad of security personnel, including the Special Task Force (STF), District Reserve Guard (DRG), district police, was out on patrol when the ultras opened fire, police said.
The policeman, identified as constable Arvind Salaam, sustained serious injuries in the attack.
"After the naxal firing, police launched a retaliatory attack. The exchange of fire lasted for around one-and-a-half hour following which the naxals fled from the spot," police said.
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Meanwhile, in a separate incident, naxals set on fire 10 vehicles near Bhattiguda village under Modakpal police station limits in Bijapur district, police said.
Police officials said that construction of road was in progress between Kongupalli to Bhattiguda.
"This morning, naxals came to the spot and asked the labourers involved in road construction to stop the work and then torched the vehicles," an official said.
A police team has been sent to the spot.